337 results about "Discrete points" patented technology

The invention relates to the technical field of automatic control, and discloses a path planning method and device for mechanical arm and laser synchronous machining, and the method comprises the steps: obtaining a workpiece three-dimensional model, a material and technological parameters, and extracting an irregular curved surface to generate a discrete point set; the tail end pose of the mechanical arm is calculated through inverse kinematics, and a preliminary joint angle and a track sequence are obtained. The optimal laser parameters are matched in combination with the parameters, a change curve is generated and synchronously mapped to a joint angle sequence, and a synchronous joint angle sequence is obtained through spline interpolation fine adjustment. And fitting a smooth track by using a B spline curve, and generating a motion track control instruction in combination with the synchronous joint angle. And the mechanical arm and the laser move according to instructions, the track compensation coefficient is dynamically adjusted when the environment changes, online compensation is conducted through the self-adaptive Kalman filtering algorithm, and a correction control instruction is obtained. According to the method, irregular curved surface machining details are extracted, the mechanical arm and the laser working sequence are aligned, the machining environment is sensed in real time, the adaptability of path planning is improved, and therefore efficient and accurate machining is achieved.

The invention belongs to the technical field of path planning, and particularly relates to a robot path planning method based on an RRT improved algorithm, and the method comprises the steps: obtaining environment space information needing path planning, defining parameters, and obtaining the minimum distance between a coordinate point and an obstacle; a bidirectional random tree is constructed and initialized, and sampling points are obtained through a sampling function; finding a nearest neighbor point, selecting a new node, carrying out safety distance judgment, and if not, carrying out sampling again; generating a discretization path; setting a cost function during local node expansion; performing loop iteration to generate discrete point cost, taking a minimum cost value, searching an optimal node and inserting the optimal node into the current tree; an overall path Path after local optimization is obtained; and discretizing the whole Path, setting a cost function of nodes during global planning, selecting the node with the minimum cost for reconnection, and finally obtaining a smooth and effective optimal path. According to the method, the optimality and smoothness of the path are effectively improved.

The invention relates to a three-dimensional rapid modeling method based on section contour multi-feature constraint, and the method comprises the steps: extracting preset key points based on the drilling space information data of a geologic body section, and constructing a discrete point set of the geologic body section; searching a starting point pair for the discrete point set, and unifying the bypassing direction of adjacent point sets; constructing an initial adjacent contour point set based on the starting point pair and the bypassing direction, performing multi-feature constrained auxiliary point interpolation on the initial adjacent contour point set, and constructing a one-to-one corresponding point set; carrying out interlayer interpolation on the contour point set after the auxiliary point interpolation; and based on the shortest diagonal constraint, carrying out triangulation network splicing on the contour point set after interlayer interpolation. According to the method, the property and the inlaying process of the basic triangular patch can be considered, reconstruction of sparse contour line discrete points with low shape similarity and different points is realized, and the problem of complex surface reconstruction under a sparse profile is effectively solved.

The invention belongs to the technical field of three-dimensional fluid mechanics numerical solution, and relates to an efficient Delaunay surface triangular mesh generation method. The method comprises the following steps: firstly, acquiring information such as geometric surfaces, geometric edges and geometric vertexes of a to-be-processed model through a geometric modeling kernel; secondly, discretizing geometric edges of the model to construct a one-dimensional discrete grid; secondly, boundary discrete points are generated step by step based on the topological relation of the geometric surfaces and mapped to a parameter plane; then, an initial triangularized grid is generated by adopting a constraint Delaunay method, and internal points are inserted one by one, so that searching and multiple traversal on a base unit are avoided; according to the method, the grid generation efficiency can be remarkably improved, the calculation overhead is reduced, and the high-quality numerical simulation requirement of a complex geometrical shape is met.

The invention discloses a global reference line generation method for an automatic driving vehicle and a related device, and relates to the technical field of automatic driving navigation, and the method comprises the steps: generating a collision-free original path of the vehicle based on an improved A * algorithm according to a starting point position and a terminal point position of the vehicle in a grid map; removing redundant points in the collision-free original path of the vehicle to obtain an original reference path; numerical smooth optimization is carried out on discrete points of the original reference path, and a cubic spline interpolation method is adopted to generate a basic reference line meeting the geometric continuity of the vehicle; establishing a Frenet coordinate system based on the basic reference line, and carrying out transverse and longitudinal motion primitive sampling to obtain a vehicle kinematics constraint and a boundary constraint; according to the constraint, establishing a quadratic programming multi-objective optimization function; and solving the quadratic programming multi-objective optimization function to obtain a global reference line. According to the invention, the robustness and security of reference line generation in a complex scene can be improved.

The invention discloses a welding seam self-adaption B spline curve fitting method for a 3D dense out-of-order point set, and aims at solving the problem of complex curved surface welding seam track generation in robot welding and breaking through the limitation of the prior art through a three-stage self-adaption fitting mechanism. The method comprises the following steps: firstly, self-adaptive screening and projection sorting are carried out by utilizing a straight line fitting error, so that the disordering problem of discrete points of a quadratic curved surface intersection line is effectively solved, and the strong dependence of a traditional method on a CAD model is overcome; secondly, in combination with a region growing method guided by an end tangent vector, robust conversion from an out-of-order point set to an ordered control point is realized through dynamic neighborhood search and projection value sorting, and path continuity of an open / closed curve is guaranteed; and finally, mean sampling quadratic fitting is adopted, control point distribution is optimized while noise is restrained, and a smooth B-spline track meeting the movement requirement of the welding gun is generated. According to the method, direct fitting of the 3D dense out-of-order point set under the model-free condition is achieved for the first time, and the generation efficiency and adaptability of the irregular welding seam track are remarkably improved.

The invention relates to the technical field of hydrodynamic analysis of ship and ocean engineering, in particular to a method, a device and equipment for predicting an additional mass coefficient and a viscous damping coefficient of multi-degree-of-freedom movement of a floating body, a storage medium and a computer program product. The method comprises the following steps: performing orthogonal two-dimensional slicing on each plane to generate flow field sampling points based on a floating body three-dimensional geometric model, draft and motion parameters; sampling point coordinates, initial flow field data, geometric contour discrete points, boundary conditions and motion parameters are coded into high-dimensional feature vectors through a learnable matrix, and input matrixes of all planes are constructed; predicting two-dimensional flow field data by adopting a Transform module, fusing multi-plane data through a graph attention network to generate a redundant three-dimensional flow field, and interpolating and complementing object plane missing points; the water pressure and the viscous shear force are divided along the surface area of the floating body, the inertia term and the damping term are decomposed in combination with the single-mode motion equation, the target additional mass coefficient and the target viscous damping coefficient are determined, and the accuracy of floating body hydrodynamic calculation is improved.

The invention discloses a method for obtaining a screw forming grinding sand contour line, which comprises the following steps of: (1) limiting a solution interval of a transcendental equation about a spiral rotation angle in a specific interval, and obtaining all solutions of the transcendental equation in the interval; (2) the change rate of two adjacent solutions is calculated, and the solutions larger than or equal to a set threshold value are removed; and (3) substituting the screened solution into a grinding wheel contour equation to obtain grinding wheel contour discrete points, and adopting a fitting algorithm for an obtained discrete point set to obtain a smooth grinding wheel contour line. According to the method, the solution interval of the transcendental equation is limited in the peak period, close to the original point, of the screw spiral line, the complexity of multiple solutions is reduced, it is guaranteed that the radius of the grinding wheel is small, and machining is more convenient; a reasonable solution is screened out through the change rate, the continuity of the sand contour line is ensured, and the discontinuity is avoided by smoothing points on the sand contour line, so that high-precision machining is realized.

The invention provides a crack identification method and system based on multi-modal data fusion, electronic equipment and a storage medium, and the method comprises the steps: firstly obtaining multi-modal data of a to-be-detected structure surface, specifically including an image sequence obtained by an acquisition module, full-field stress time sequence data and preset key part discrete point stress time sequence data; performing time synchronization calibration on the multi-modal data, mapping a stress field corresponding to full-field stress time sequence data to a pixel coordinate system of an image sequence through camera calibration parameters, and associating discrete point stress time sequence data to the pixel coordinate system to form a comprehensive data set of unified space coordinates; and finally, inputting the comprehensive data set into a trained multi-modal crack recognition model, and performing model recognition to obtain crack parameters and stress analysis results, thereby realizing crack recognition driven by multi-modal data fusion. Multi-modal data collaborative input overcomes the problems of misinformation, missing report and information loss of a single data source, and improves the accuracy and reliability of crack recognition.

The invention discloses a random field modeling method for quantifying an initial defect of a spherical shell structure. The method comprises the following steps: determining simulated spherical shell data corresponding to a target spherical shell; the simulated spherical shell data comprises spherical shell geometric information and spherical shell material information; determining a target correlation function and representative discrete points corresponding to a target spherical shell based on spherical shell geometric information and the spherical shell material information; determining a correlation coefficient matrix based on the target correlation function and the representative discrete points; performing eigenvalue decomposition on the correlation coefficient matrix to obtain a standard random field; and performing random field transformation on the standard random field based on a random field transformation formula to obtain a target random field corresponding to the target spherical shell. According to the method, the target correlation function and the representative discrete points are determined according to the simulated spherical shell data, the geodesic distance is introduced into the target correlation function, the spherical shell random field is established based on the eigenvalue decomposition method, the intrinsic correlation of the initial defect of the spherical shell can be accurately quantified, and then the accuracy of spherical shell performance analysis can be improved.

The invention relates to an open type blisk hub machining tool path planning method based on parameter mapping. The open type blisk hub machining tool path planning method comprises the following steps that S1, NURBS curved surfaces of a hub and a fillet are obtained; s2, solving a curve after geodesic offset of the annular boundary; s3, splitting the curve after geodesic offset to obtain a curve C1 and a curve C2; s4, discretizing the curve C2 to take points, and shifting the curve C1 to obtain a curve C1 '; s5, making an isoparametric line towards the curve C1'by taking the discrete point as a starting point, determining the number of cutter paths according to the longest isoparametric line corresponding to the Euclidean space, taking points of the isoparametric line at equal intervals according to the number of cutter paths, and sequentially connecting the points along the axial direction of the hub to obtain a plurality of cutter paths; s6, extending the two ends of each cutter path in the runner to obtain cutter path extending paths on the outer sides of the blades; and S7, converting the path into a cutter location point. According to the method, the annular boundary serves as the boundary of hub machining, complex geometrical characteristics are relatively simplified, sampling is carried out according to chord height constraint, and smooth transition of a path is ensured.

The invention relates to a self-adaptive abrasive jet strengthening method and system for a complex curved surface. The method comprises the steps that a three-dimensional point cloud data set of a workpiece is acquired; analyzing the three-dimensional point cloud data set to obtain a first principal component vector; a section plane is set, an intersection line of the section plane and the three-dimensional point cloud data set is calculated based on the first principal component vector, and the intersection line is an initial path; a normal vector of each discrete point on the initial path is calculated, calculation is carried out based on the normal vectors and the custom viewpoints, newest unit outer normal vectors of the discrete points are obtained, and the newest unit outer normal vectors are all perpendicular to the complex curved surface on the workpiece; and calculating corresponding actual position coordinates of the nozzle relative to each discrete point based on the unit outer normal vectors of the discrete points, and forming a continuous strengthening path based on the actual position coordinates. According to the method and the device, the deviation between the CAD model and the real object can be eliminated, the strengthening path planning of the nozzle has the curved surface self-adaptive capability, and the jet flow energy distribution is uniform.

The invention discloses a model discretization method and device, electronic equipment and a computer readable storage medium. Comprising the steps that a to-be-discretized CAD model is obtained, the to-be-discretized CAD model is analyzed, geometric features of the to-be-discretized CAD model are obtained, and the geometric features at least comprise faces and edges; for any adjacent edge A and edge B, discretizing the edge A and the edge B according to the relationship between the edge A and the edge B, and discretizing the edge A and the edge B respectively to obtain a discrete point column of the edge A and a discrete point column of the edge B; and for any adjacent surface C and surface D, discretizing the surface C and the surface D according to the relationship between the surface C and the surface D, and discretizing the surface C and the surface D respectively to obtain a discrete grid of the surface C and a discrete grid of the surface D. According to the method, when the model is converted into the net-shaped structure, it is guaranteed that selfing of the grids does not occur.

The invention discloses an intelligent flight path planning method for an unmanned aerial vehicle in a multi-type scene, and the method comprises the following steps: 1, building task input and task type recognition: setting the unmanned aerial vehicle to be in a fixed-height flight mode, and obtaining space information required by a task, including a take-off point position, a task point coordinate set and a task region boundary, the system identifies the task type through analysis; if the input is a discrete point set, the task is judged as a point task; if the structure is a broken line structure, judging the task as a line task; if the boundary is a task area boundary, the task is judged to be a surface task, and if the boundary width L is small, the task is still judged to be a line task. The method has the advantages that a fitness function is improved, the shortest total time of multiple unmanned aerial vehicle tasks is used as an optimization target, and task real-time weight parameters are introduced, so that a planning result meets task timeliness and energy consumption optimization at the same time; the coverage of planar tasks is realized in combination with a cattle farming algorithm, dynamic planning of electric quantity and a battery swap station is performed in combination with a greedy algorithm, and path optimization and improvement of energy management are realized.

To provide a reinforcing bar weld bead detection method and device.SOLUTION: A method is applied to a weld bead detection device, and includes the steps of: acquiring first point group data of a detection area, wherein the first point group data includes a plurality of discrete point data including a color value and plane coordinates; determining a plurality of contour points of a detection object weld bead on the basis of the first point group data; acquiring dimensional information of the detection object weld bead on the basis of plane coordinates corresponding to each of the plurality of contour points, wherein the dimensional information includes the length and width of the detection object weld bead; and determining the detection object weld bead as a successful weld bead in the case that the dimensional information satisfies a preset condition. The present means enables quantitative detection of a weld bead, and thereby improves the efficiency of detecting the weld bead.SELECTED DRAWING: Figure 2

This invention discloses a method for planning U-turns of automated vehicles in narrow passages in mines, comprising: S1, determining the starting area for U-turn planning; S2, performing tunnel area planning to generate interval navigation paths and local paths; S3, performing chamber area planning: the automated vehicle travels to the starting area for U-turn planning based on the tunnel area planning results, establishes a discrete map of the chamber planning area and sets a step size Sn, expands nodes until the target point is reached, and generates a collision-free path; S4, post-processing the collision-free path generated in step S3: a nonlinear optimization planning problem is modeled using a constructed objective function for the discrete points of the collision-free path, and a corresponding solver is used to obtain the final smooth path solution. This method can quickly and effectively complete U-turn trajectory planning in narrow areas using the chamber space, achieving relatively coherent U-turn actions, ensuring the real-time performance of the planning algorithm, and improving vehicle traffic efficiency.

The invention relates to the technical field of section line fairing, in particular to a curvature fairing method for the front edge and the rear edge of a blade modeling section line, and the method comprises the following steps: 1, importing a three-dimensional model of an impeller, and obtaining the blade section line of the impeller; step 2, solving discrete points on the section line in an isoparametric manner, and converting Cartesian three-dimensional coordinates of the discrete points into two-dimensional cylindrical coordinates; 3, finding out an initial leading edge endpoint and an initial trailing edge endpoint of the section line by using a central axis algorithm; step 4, according to the curvature of the front edge endpoint and the curvature of the rear edge endpoint, determining a segmentation point of the front edge endpoint and a segmentation point of the rear edge endpoint respectively; 5, the curvature of the front edge and the curvature of the rear edge are smoothed, curve smoothing is carried out in a third-order derivative mode, position constraint and end point constraint are carried out on the basis of an original curve, and the curve can achieve the curve smoothing effect within the minimum range.

The present invention relates to the field of automatic control technology, and discloses a path planning method and device for synchronized machining of a robotic arm and a laser, including: obtaining a three-dimensional model of a workpiece, material and process parameters, and extracting an irregular surface to generate a discrete point set. Calculating the pose of the end of the robotic arm through inverse kinematics to obtain preliminary joint angles and a trajectory sequence. Combining parameter matching to optimize the laser parameters, generating a variation curve and synchronously mapping it to the joint angle sequence, and obtaining a synchronized joint angle sequence through spline interpolation fine-tuning. Fitting a smooth trajectory with a B-spline curve, and generating a motion trajectory control instruction in combination with the synchronized joint angles. The robotic arm and the laser move according to the instruction. When the environment changes, the trajectory compensation coefficient is dynamically adjusted, and online compensation is performed using an adaptive Kalman filtering algorithm to obtain a corrected control instruction. The present invention improves the adaptability of path planning by extracting the machining details of the irregular surface, aligning the working sequences of the robotic arm and the laser, and real-time sensing the machining environment, so as to perform efficient and precise machining.

The invention discloses a plane target contour reconstruction method and device suitable for geographic information data processing, which are used for recovering the contour shape of a target geographic element from a disordered discrete point set, and comprises the following steps: obtaining a plane discrete point set representing the target geographic element, the plane discrete point set being disordered coordinate data; the plane discrete point set is processed, the plane discrete point set is structured into a group of line segment sets representing local contour features of the plane discrete point set through iterative splitting and merging operation based on an elliptic model, and the splitting and merging operation is controlled by a linearity threshold value and a disconnected connectivity threshold value which are generated in a self-adaptive mode; processing the line segment set, and integrating the line segment set into closed polygon contour data representing the target geographic element by establishing a spatial index for end points of the line segment set and executing nearest neighbor connection; and outputting closed polygon contour data. According to the method and the device, the accuracy and the automation degree of contour reconstruction and the robustness of an algorithm are improved.

The invention discloses a three-dimensional S-shaped bent inner concave runner design method and system. The design method comprises the following steps that a runner inlet molded line and a runner outlet molded line of a supersonic speed stamping runner are obtained; n discrete points are extracted in the circumferential directions of the inlet molded line and the outlet molded line to form N groups of inlet and outlet discrete point pairs; the change rule of S-shaped curve parameters is set in the circumferential direction of the runner inlet molded line / runner outlet molded line, and N S curves are obtained; acquiring a coordinate set of N * M discrete points on the curve set by M parallel interception planes; enveloping to generate an S-shaped curved surface, calculating the area of the two-dimensional cross section graph, and obtaining a flow channel sectional area change rule in the flow direction and a slope change rule of a center curve of the S-shaped curved surface; and judging whether the design is reasonable. The method can be suitable for computer-aided design of flow channels transited from various patterns including irregular patterns to circles or ellipses, and can meet the design of flow channels with offset inlet and outlet positions.

The invention discloses a jump line generation method based on section steel laser cutting contour geometric information, which comprises the following steps of: extracting starting and ending points corresponding to the geometric information based on the given geometric information, then obtaining coordinates on a circumcircle in a corresponding normal vector direction, and then generating a corresponding three-dimensional space jump line; meanwhile, the discrete point coordinates of the jump lines are correspondingly calculated, and the direction vectors of the discrete points are generated through arc discrete interpolation. According to the method, the middle point can be introduced for a special scene, it is guaranteed that the machining path meets the actual scene requirement, for example, the path needs to be located on the upper portion all the time, the middle point can be arranged on the upper portion, and collision and interference are avoided.

The invention provides a method and device for generating a three-dimensional tetrahedral mesh in parallel based on a graphics processor, and the method comprises the steps: carrying out the processing of an obtained discrete point set based on a preset unit mesh, and obtaining a mapping relation between the discrete point set and the preset unit mesh; based on the mapping relation and a three-dimensional local Delou inner lemma, a thread constructed by a graphics processor is used for calculating a target neighborhood of each target point in the discrete point set in parallel, and a calculation task of the thread is limited by a preset calculation limit; for each second target point of which the calculation demand exceeds the calculation limit, based on the mapping relationship and a three-dimensional local Delou inner lemma, calculating a target-neighborhood of each second target point in parallel by using a thread block constructed by a graphics processor to obtain a target-neighborhood set corresponding to the discrete point set; and generating a three-dimensional tetrahedral mesh corresponding to the discrete point set according to the target neighborhood set corresponding to the discrete point set.

The invention discloses a robot spline interpolation node selection method based on single-step energy loss. The method comprises the following steps: inputting a to-be-tracked trajectory of a robot end effector; discretizing the trajectory to be tracked to obtain ordered discrete points, and recording position information and curvature information corresponding to the discrete points; the method comprises the following steps: setting a starting end point of a to-be-tracked trajectory as a first interpolation node s0 and a last interpolation node sn, respectively adding an interpolation node s1 and an interpolation node sn-1 at discrete point positions which are delta away from the s0 and the sn, adjusting a step length in an interval of the s1 and the sn-1 to enable a single-step energy value to be equal to a set energy value, setting the position of the energy value as an interpolation node, and setting the position of the energy value as the interpolation node; and obtaining all interpolation nodes in the interval. According to the method, the positions and the number of the least nodes needed for tracking one track through spline interpolation can be rapidly determined, and the method is used for assisting generation of a motion planning method based on the hierarchical search tree and a robot teaching program.

The invention provides a tensor processing method and device, equipment and a medium, and relates to the technical field of data processing, in particular to the technical field of artificial intelligence and distributed processing. According to the implementation scheme, the method comprises the steps of querying a first segmentation parameter from a database based on the size of a to-be-processed N-dimensional first tensor; segmenting the first tensor based on a first segmentation parameter to determine a plurality of sub-tensors; and using a plurality of processing units to process the plurality of sub-tensors in parallel. The database construction process comprises the following steps: determining a plurality of discrete points in an N-dimensional coordinate space; determining a candidate segmentation parameter set corresponding to each discrete point; and dividing the N-dimensional coordinate space into a plurality of target subspaces based on the candidate segmentation parameter set of the plurality of discrete points, each target subspace having a plurality of first discrete points capable of corresponding to a common segmentation parameter, the database query process comprising: determining the first target subspace where the target point corresponding to the first tensor is located; and determining the common segmentation parameter corresponding to the first target subspace as a first segmentation parameter.

The invention discloses a variable grid method grid automatic division method and device based on vector field guidance. The method comprises the following steps: extracting boundary feature points according to geometric features of an input model boundary so as to construct a feature polygon of a model, and dispersing the feature polygon into a triangular mesh model; constructing a vector field based on a Laplacian operator by using the triangular mesh model; starting from the geometric center of the model, setting an initial quadrilateral grid as an initial paving layer, paving the quadrilateral grid outwards layer by layer, and if the paving layer exceeds the boundary of the model, stopping paving; when each layer of quadrilateral grid deforms, uniform transition is achieved through a size transition template; and finally, generating a boundary quadrilateral mesh of the model by adopting a mapping method, mapping discrete points on the boundary of the feature polygon back to the boundary of the input model, and outputting a generated quadrilateral mesh model. According to the method, full-automatic generation of the quadrilateral mesh can be realized, and the method is particularly suitable for mesh generation in finite element simulation pretreatment.

The invention discloses a five-axis laser processing path planning method and device, equipment and a medium, and relates to the technical field of laser processing. A space filling line cluster is constructed, the filling line cluster and a processed surface are subjected to Boolean operation to obtain a preliminary continuous processing track, the processing track is discretized into track curve segments, and the track curve segments are divided into two groups; the tangent vectors of the two end points of the curve segment are calculated, the curvature of the corresponding curve segment is obtained according to the included angle of the tangent vectors of the two end points, the discrete density is dynamically constrained through the tangent vector included angle in the process, and path planning is carried out in the form of equal curvature discrete represented by kinematics characteristics; and based on the u-direction parameter value and the v-direction parameter value, generating a three-dimensional laser coordinate point position and a two-dimensional laser direction vector corresponding to the discrete points so as to obtain a five-axis laser processing path of each discrete point on the track curve segment, so that the three-axis coordinate and the two-axis direction vector can be synchronized into the five-axis laser processing path. Therefore, a high-precision laser processing path can be obtained to process the workpiece.

The invention discloses an error determination method and device for a photoetching simulation model, equipment, a medium and a product, and relates to the technical field of photoetching simulation. The error determination method of the photoetching simulation model comprises the following steps: acquiring a real photoetching outline of a target mask pattern and a simulated photoetching outline of the target mask pattern output by the photoetching simulation model; discretizing the real photoetching contour and the simulated photoetching contour respectively to construct a first quadtree; according to the first quadtree, determining the shortest distance from each real discrete point to the simulation photoetching contour and the shortest distance from each simulation discrete point to the real photoetching contour; respectively storing each shortest distance into an isomorphic index tree corresponding to the first quadtree, and constructing a second quadtree; and determining the error of the photoetching simulation model according to the second quadtree. According to the invention, the error determination efficiency of the photoetching simulation model can be improved.

The invention discloses a motion state determination method, system and device based on human upper limb inverse kinematics and a medium, and relates to the field of robot kinematics control, and the method comprises the steps: obtaining an upper limb working space of a human upper limb; according to the upper limb working space, discrete sampling is carried out based on a Monte Carlo sampling method, and an initial discrete point set is determined; performing sampling density adjustment on the sensitive area, the boundary area and the singular area in the initial discrete point set to obtain a final discrete point set; determining a joint angle set corresponding to each discrete point, and constructing a joint angle database; retrieving a joint angle database based on a kd-tree method, and determining an initial joint angle; local optimization is carried out based on a gradient descent method, and a joint angle corresponding to each tail end position is determined; determining the motion state of the upper limbs of the human body; the joint angle corresponding to each tail end pose of the human upper limb can be quickly and accurately determined, and then the current motion state of the human upper limb is determined.

The invention discloses an automatic discretization method for a hydroelectric nonlinear characteristic curve. The method comprises the following steps: collecting n sample points of a hydroelectric original nonlinear characteristic curve, and setting the number of required discrete points to be m; virtually connecting the head and tail points of the original nonlinear characteristic curve to form a straight line, calculating the vertical distances between all sample points on the original nonlinear characteristic curve and the straight line, and calculating the maximum distance value D0 corresponding to the maximum distance point P0; if the maximum distance value D0 is larger than the distance threshold value, the maximum distance point P0 is reserved; respectively screening out the maximum distance points in the residual sample points, and comparing the maximum distance points with a distance threshold value; if the maximum distance value D0 is smaller than or equal to the distance threshold value, all middle points are removed, and only the starting point and the ending point are reserved; and repeating the steps, and removing the point with the minimum error every time until only m discrete points remain. According to the method, the discrete points with the given number can be rapidly and automatically extracted, and the extracted discrete points can accurately represent the original nonlinear characteristic curve.

The invention provides a ground laser scanner positioning network determination method for a pre-assembled structure. Generating a planar model of a target structure and a peripheral area in the NetLogo platform, and marking a restricted area and a shielding area in the peripheral area to obtain a multi-agent model; the method comprises the following steps: discretizing the perimeter of a splicing interface and a non-splicing interface of a target structure according to different densities, obtaining a visual area of each discrete point according to a TLS constraint parameter, and superposing the visual areas of all discrete points on the perimeter to obtain a perimeter visual area global domain, namely a TLS site area global domain; the method comprises the following steps: calculating an initial site position set by adopting a genetic algorithm according to the whole site region, then establishing a TLS site network, and optimizing the site network by adopting a registration evaluation method to obtain a TLS positioning network. According to the method, the emphasis on the splicing interface is considered when the whole region of the TLS site region is established, the quality of the point cloud data obtained by the TLS positioning network can be improved, and the accuracy, rapidness and high efficiency of structure splicing are ensured.